ocaml applications -> dynamic compil and link

"make deb" creates a valid (???) deb package
paparazzi_demo to play s simple example

sw/tools/Makefile

@@ -1,13 +1,17 @@
+OCAML=ocaml
 OCAMLC=ocamlc -g -I ../lib/ocaml
 OCAMLLEX=ocamllex
 OCAMLYACC=ocamlyacc
 
 all: gen_aircraft.out gen_airframe.out gen_calib.out gen_messages.out gen_ubx.out gen_flight_plan.out gen_radio.out
 
-FP_CMO = fp_syntax.cmo fp_parser.cmo fp_lexer.cmo fp_proc.cmo gen_flight_plan.cmo
+FP_CMO = fp_syntax.cmo fp_parser.cmo fp_lexer.cmo fp_proc.cmo gen_flight_plan.ml
+ABS_FP = $(FP_CMO:%=$$PAPARAZZI_SRC/sw/tools/%)
 
 gen_flight_plan.out : $(FP_CMO)
-	$(OCAMLC) lib.cma $^ -o $@
+	cat ../../pprz_src_test.sh > $@
+	echo '$(OCAML) -I $$PAPARAZZI_SRC/sw/lib/ocaml -I $$PAPARAZZI_SRC/sw/tools lib-pprz.cma $(ABS_FP) $$*' >> $@
+	chmod a+x $@
 
 fp_parser.cmo : fp_parser.cmi fp_syntax.cmi
 fp_parser.cmi : fp_parser.ml fp_syntax.cmi
@@ -18,7 +22,10 @@ fp_syntax.cmo : fp_syntax.cmi
 
 
 %.out : %.ml
-	$(OCAMLC) lib.cma $< -o $@
+	$(OCAMLC) -o /dev/null lib-pprz.cma $< # To check
+	cat ../../pprz_src_test.sh > $@
+	echo '$(OCAML) -I $$PAPARAZZI_SRC/sw/lib/ocaml lib-pprz.cma $$PAPARAZZI_SRC/sw/tools/$< $$*' >> $@
+	chmod a+x $@
 
 %.cmo : %.ml
 	$(OCAMLC) -c $<

sw/tools/gen_aircraft.ml

@@ -10,6 +10,8 @@ let mkdir = fun d ->
     Unix.mkdir d 0o755
 
 let _ =
+  if Array.length Sys.argv <> 2 then
+    failwith (sprintf "Usage: %s <xml_airframe_file>" Sys.argv.(0));
   let aircraft = Sys.argv.(1) in
   let conf = Xml.parse_file conf_xml in
   let aircraft_xml =

sw/tools/gen_flight_plan.ml

@@ -358,12 +358,14 @@ let check_distance = fun (hx, hy) max_d wp ->
 
 
 let _ =
-  let xml_file = ref "fligh_plan.xml"
+  let xml_file = ref ""
   and dump = ref false in
   Arg.parse [("-dump", Arg.Set dump, "Dump compile result");
 	     ("-nocheck", Arg.Clear check_expressions, "Disable expression checking")]
     (fun f -> xml_file := f)
     "Usage:";
+  if !xml_file = "" then
+    failwith (sprintf "Usage: %s <xml-flight-plan-file>" Sys.argv.(0));
   try
     let xml = Xml.parse_file !xml_file in
     let dir = Filename.dirname !xml_file in

sw/tools/gen_messages.ml

@@ -239,7 +239,7 @@ end
 
 let _ =
   if Array.length Sys.argv <> 3 then begin
-    fprintf stderr "Usage: %s <.xml file> <class_name>" Sys.argv.(0) 
+    failwith (sprintf "Usage: %s <.xml file> <class_name>" Sys.argv.(0)) 
   end;
   let filename = Sys.argv.(1) in
   let class_name = Sys.argv.(2) in

sw/tools/gen_ubx.ml

@@ -100,6 +100,9 @@ let parse_class = fun c ->
   
 
 let _ =
+  if Array.length Sys.argv <> 2 then begin
+    failwith (sprintf "Usage: %s <.xml ubx protocol file>" Sys.argv.(0)) 
+  end;
   let xml_file = Sys.argv.(1) in
   try
     let xml = Xml.parse_file xml_file in